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This paper presents an algorithm for real-time vision based autonomous navigation for mobile ground robots in an unstructured static environment. The obstacle detection is based on Canny edge detection and a suite of algorithms for extracting the location of all obstacles in robot's current view. In order to avoid obstacles we designed a reasoning...
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Citations
... Despite the intensive use of LRF, SONAR, IR and ultrasonic sensors for obstacle detection, a camera offers several general advantages over these sensors such as high spatial resolution, fast response and no spectral interference from other sensors in the environment. Monocular vision-based obstacle detection and collision avoidance scheme for a static environment was presented by Novishi et al. in [17]. The approach used Canny edge detection and other algorithms for extraction of the obstacle's location. ...
This paper highlights the importance of an autonomous navigation scheme for an Unmanned Ground Vehicle (UGV) operating under a complex operational scenario that requires obstacle detection. The proposed scheme is based on the construction and investigation of disparity images and follows a two-stage perception structure. During detection phase, the relationship between encountered obstacles and the robot's path is inferred. Based on the extracted Region Of Interest (ROI) and statistical information about projections, the confirmation phase characterizes the contours and obstacles positions. Computationally intensive stereovision techniques are optimized for use in real-time applications. The scheme has been tested on a custom-developed wheeled mobile robot. The experimental findings show the benefits of our scheme. The robot detects obstacles of any size and shape within a range of 80–200cm. The results demonstrate that the robot has the ability to precisely navigate in a wide range of illumination conditions. The proposed approach does not need any extraction of lane markers since it fully exploits the information contained in the disparity images. The anticipated applications of the proposed scheme include autonomous navigation of vehicles for environment exploration, perimeter surveillance and automated delivery of goods in a factory.
... Again, the X and Y coordinates are given in pixels. Recently several development frameworks have been proposed to assist researchers in the design of robotic applications [20]. From these, the Mindstorms EV3 robotic platform is an easy to use and versatile development tool-kit that has wide spread applications both in education and engineering [21]. ...
Eye-tracking devices are currently used for improving communication and psychosocial status among patients with neuro-motor disabilities. This paper presents the experimental implementation of a control system for a robotic platform using eye tracking technology. The main system is based on an eye tracking subsystem that uses the circular Hough transform algorithm. A central processing unit performs the data transmission between the user and the robotic platform. Experimental tests were conducted to determine the device's performances and usability for patients with neuro-motor disabilities. Moreover, the test results were used to determine the control system learning curve. We created a data base containing information on the robotic platform processing time and precision of movement for improving the platform’s performances.
